Regenerative brake apparatus of hybrid vehicle and method thereof

ABSTRACT

A regenerative braking apparatus of a vehicle includes: an engine that supplies power to front wheels of the vehicle; a hybrid starting generator (HSG) that starts the engine; an engine clutch that is disposed between the engine and a transmission and selectively transmits power from the engine to the front wheels; a motor that supplies power to the rear wheels of the vehicle; a battery that stores electrical energy generated by the HSG and the motor; and a controller that generates friction braking torque on the front wheels when necessary braking torque of the front wheels is larger than regenerative braking torque of the front wheels, and that generates friction braking torque on the rear wheels when necessary braking torque of the rear wheels is larger than regenerative braking torque of the rear wheels, in braking of the vehicle.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims under 35 U.S.C. §119(a) priority to and thebenefit of Korean Patent Application No. 10-2014-0112631 filed in theKorean Intellectual Property Office on Aug. 27, 2014, the entirecontents of which are incorporated herein by reference.

BACKGROUND

(a) Field of the Invention

The present invention relates to a regenerative braking apparatus of ahybrid vehicle, more particularly, to a regenerative brake apparatuswhich secures a stable braking force in a four-wheel drive vehicle and aregenerative braking method.

(b) Description of the Related Art

A hybrid vehicle uses two or more power sources, generally, an engineand a motor. The motor in a hybrid vehicle assists power from the enginein accelerating or uphill driving. In particular, the motor operates asa power generator, and when the vehicle brakes, it generates a brakingforce by converting kinetic energy generated in braking into electricalenergy. The converted electrical energy is stored in the vehicle.

A system that converts kinetic energy generated in braking of a vehicleinto electric energy and recovers the electric energy is called aregenerative braking system. A rear-axle mounted electric device (RMED)type of hybrid vehicle will now be described. In the RMED type of hybridvehicle, the front wheels are driven by the power from the engine, andthe rear wheels are driven by power of the motor. The motor assists thepower from the engine and operates as a power generator in braking ofthe vehicle. The engine is equipped with a hybrid starting generator(HSG), and the HSG operates as a power generator when the engine is inoperation.

However, an appropriate regenerative braking plan using the motor andthe HSG is required when braking the RMED type of hybrid vehicle.

The above information disclosed in this Background section is only forenhancement of understanding of the background of the invention andtherefore it may contain information that does not form the prior artthat is already known in this country to a person of ordinary skill inthe art.

SUMMARY

The present invention provides a regenerative braking plan using an HSGand a motor, when braking an RMED type of hybrid vehicle. As providedherein, the term “vehicle” includes a “hybrid vehicle,” but is notlimited thereto.

An exemplary embodiment of the present invention provides a regenerativebraking apparatus of a vehicle that includes: an engine that suppliespower to front wheels of the vehicle; a hybrid starting generator (HSG)that starts the engine and generates electrical energy by operating as apower generator with the engine in operation; an engine clutch that isdisposed between the engine and a transmission and selectively transmitsthe power from the engine to the front wheels; a motor that suppliespower to rear wheels of the vehicle and generates electrical energy byoperating as a power generator in braking; a battery that stores theelectrical energy generated by the HSG and the motor; and a controllerthat generates friction braking torque on the front wheels whennecessary braking torque of the front wheels is larger than regenerativebraking torque of the front wheels, and that generates friction brakingtorque on the rear wheels when necessary braking torque of the rearwheels is larger than regenerative braking torque of the rear wheels, inbraking of a vehicle.

The regenerative braking torque of the front wheels may be set to thesmaller one of values obtained by subtracting a value which is obtainedby multiplying friction torque of the engine by the gear ratio of thecurrent shift gear from the necessary braking torque of the frontwheels, and the regenerative braking available torque of the frontwheels.

The regenerative braking available torque of the front wheels may be setto the smaller one of first regenerative braking available torque of thebattery and first regenerative braking available torque of the HSG. Thefirst regenerative braking available torque of the battery may becalculated from an equation: (chargeable power of battery+power consumedby auxiliary load−charging power of motor)/charging efficiency ofbattery/speed of front wheel.

The first regenerative braking available torque of the HSG may becalculated by obtaining speed and torque of the front wheels from aspeed-torque curve of the HSG corresponding to gears of the transmissionand then multiplying the torque of the front wheels by a state variable.

The regenerative braking torque of the rear wheels may be set to thesmaller one of second regenerative braking available torque of thebattery and second regenerative braking available torque of the motor.

The second regenerative braking available torque of the battery may becalculated from an equation: (chargeable power of battery+power consumedby auxiliary load)/charging efficiency of battery/speed of rear wheel.

The second regenerative braking available torque of the motor may becalculated by obtaining speed and torque of the rear wheels from aspeed-torque curve of the motor and then multiplying the torque of therear wheels by a state variable.

The controller may disengage the engine clutch when an engine speed islower than a predetermined speed in braking.

Another exemplary embodiment of the present invention provides aregenerative braking method of a vehicle, that includes: calculatingnecessary braking torque of front wheels and necessary braking torque ofrear wheels from total necessary braking torque determined in responseto a braking signal of the vehicle; calculating regenerative brakingtorque of the front wheels and regenerative braking torque of the rearwheels; generating friction braking torque on the front wheels when thenecessary braking torque of the front wheels is larger than theregenerative braking torque of the front wheels; and generating frictionbraking torque on the rear wheels when the necessary braking torque ofthe rear wheels is larger than the regenerative braking torque of therear wheels.

The calculating of regenerative braking torque of the front wheels mayinclude: determining whether an engine clutch has been engaged;comparing the necessary braking torque of the front wheels with frictiontorque of an engine; determining whether a speed of the engine is higherthan a predetermined speed; and calculating the regenerative brakingtorque of the front wheels when the engine clutch is engaged, thenecessary braking torque of the front wheels is over the friction torqueof the engine, and the speed of the engine is over the predeterminedspeed.

The regenerative braking torque of the front wheels may be set to thesmaller one of values obtained by subtracting the friction torque of theengine from the necessary braking torque and the regenerative brakingtorque of the front wheels.

The regenerative braking available torque of the front wheels may be setto the smaller one of first regenerative braking available torque of thebattery and first regenerative braking available torque of the HSG.

The first regenerative braking available torque of the battery may becalculated from an equation: (chargeable power of battery+power consumedby auxiliary load−charging power of motor)/charging efficiency ofbattery/speed of front wheel.

The first regenerative braking available torque of the HSG may becalculated by obtaining torque of the front wheels corresponding to thespeed of the front wheels from a speed-torque curve of the HSGcorresponding to gears of a transmission and then multiplying the torqueof the front wheels by a state variable.

The regenerative braking torque of the rear wheels may be set to thesmaller one of second regenerative braking available torque of thebattery and second regenerative braking available torque of the motor.

The second regenerative braking available torque of the battery may becalculated from an equation: (chargeable power of battery+power consumedby auxiliary load)/charging efficiency of battery/speed of rear wheel.

The second regenerative braking available torque of the motor may becalculated by obtaining speed and torque of the rear wheels from aspeed-torque curve of the motor and then multiplying the torque of therear wheels by a state variable.

According to the regenerative braking apparatus of a hybrid vehicle ofan exemplary embodiment of the present invention, it is possible tosecure stability in braking of a vehicle by providing a regenerativebraking plan using the HSG and the motor.

Further, it is possible to maximize the regenerative braking amount ofthe HSG and the motor by making a plan of regenerative braking of ahybrid vehicle in consideration of the states of the motor and electricdevices.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawings are provided for reference in describing exemplaryembodiments of the present invention, and the spirit of the presentinvention should not be construed only by the accompanying drawings.

FIG. 1 is a conceptual diagram showing the configuration of aregenerative braking apparatus of a hybrid vehicle according to anexemplary embodiment of the present invention.

FIG. 2 is a graph showing the relationship between deceleration andbraking torque.

FIG. 3 is a flowchart illustrating a regenerative braking method of ahybrid vehicle according to an exemplary embodiment of the presentinvention.

FIG. 4 is a flowchart illustrating a method of calculating brakingtorque of front wheels according to an exemplary embodiment of thepresent invention.

FIG. 5 is a flowchart illustrating a method of calculating brakingtorque of rear wheels according to an exemplary embodiment of thepresent invention.

DETAILED DESCRIPTION OF THE EMBODIMENTS

The present invention will be described more fully hereinafter withreference to the accompanying drawings, in which exemplary embodimentsof the invention are shown. As those skilled in the art would realize,the described embodiments may be modified in various different ways, allwithout departing from the spirit or scope of the present invention.

The parts not related to the description of the exemplary embodimentsare not shown to make the description clear, and like reference numeralsdesignate like elements throughout the specification.

The sizes and thicknesses of the configurations shown in the drawingsare provided selectively for the convenience of description, such thatthe present invention is not limited to those shown in the drawings, andthe thicknesses are exaggerated to make some parts and regions moreclear.

It is understood that the term “vehicle” or “vehicular” or other similarterm as used herein is inclusive of motor vehicles in general such aspassenger automobiles including sports utility vehicles (SUV), buses,trucks, various commercial vehicles, watercraft including a variety ofboats and ships, aircraft, and the like, and includes hybrid vehicles,electric vehicles, plug-in hybrid electric vehicles, hydrogen-poweredvehicles and other alternative fuel vehicles (e.g. fuels derived fromresources other than petroleum). As referred to herein, a hybrid vehicleis a vehicle that has two or more sources of power, for example bothgasoline-powered and electric-powered vehicles.

The terminology used herein is for the purpose of describing particularembodiments only and is not intended to be limiting of the invention. Asused herein, the singular forms “a,” “an” and “the” are intended toinclude the plural forms as well, unless the context clearly indicatesotherwise. It will be further understood that the terms “comprises”and/or “comprising,” when used in this specification, specify thepresence of stated features, integers, steps, operations, elements,and/or components, but do not preclude the presence or addition of oneor more other features, integers, steps, operations, elements,components, and/or groups thereof. As used herein, the term “and/or”includes any and all combinations of one or more of the associatedlisted items.

Further, the control logic of the present invention may be embodied asnon-transitory computer readable media on a computer readable mediumcontaining executable program instructions executed by a processor,controller or the like. Examples of computer readable media include, butare not limited to, ROM, RAM, compact disc (CD)-ROMs, magnetic tapes,floppy disks, flash drives, smart cards and optical data storagedevices. The computer readable medium can also be distributed in networkcoupled computer systems so that the computer readable media is storedand executed in a distributed fashion, e.g., by a telematics server or aController Area Network (CAN).

FIG. 1 is a conceptual diagram showing the configuration of aregenerative braking apparatus of a hybrid vehicle according to anexemplary embodiment of the present invention.

As shown in FIG. 1, the regenerative braking apparatus includes: anengine 30 that supplies power to front wheels 10 of a vehicle (e.g., ahybrid vehicle); a hybrid starting generator (HSG) 32 that starts theengine and generates electrical energy by operating as a power generatorwith the engine in operation; an engine clutch 40 that is disposedbetween the engine 30 and a transmission 50 and that selectivelytransmits the power from the engine 30 to the front wheels 10; a motor60 that supplies power to rear wheels 20 of the vehicle and generateselectrical energy by operating as a power generator in braking; abattery 70 that stores the electrical energy generated by the HSG andthe motor; and a controller that controls these components.

The HSG (hybrid starting generator) operates as a starter and a powergenerator. In particular, the HSG starts the engine in response to acontrol signal from the controller, and generates electrical energy byoperating as a power generator with the engine in operation. Theelectrical energy generated by the HSG is stored in the battery.

The motor assists the power from the engine when the hybrid vehicle isin operation. For example, the motor improves running performance byassisting the power from the engine when the vehicle rapidly acceleratesor runs on an uphill slope.

Further, the motor generates a braking force by converting kineticenergy of the hybrid vehicle into electrical energy by operating as apower generator in braking of the vehicle. The electrical energyconverted by the motor is stored in the battery.

A regenerative braking plan using the regenerative braking apparatus ofa hybrid vehicle according to an exemplary embodiment of the presentinvention is described in detail hereafter.

FIG. 2 is a graph showing the relationship between deceleration andbraking torque.

As shown in FIG. 2, in early braking of the vehicle, the controllerdistributes necessary braking torque to the front wheels and the rearwheels (see section (1) in FIG. 2). In this process, the necessarybraking torque to be distributed to the front wheels is set to be largerthan the necessary braking torque to be distributed to the rear wheelsin order to secure stability in braking of the vehicle.

The controller generates friction braking torque on the front wheels,when the necessary braking torque B1 of the front wheels is larger thanregenerative braking torque D1 of the front wheels in braking of thevehicle (see section (2) in FIG. 2). Generating friction braking torqueon the front wheels means generating braking torque on the front wheels,using a common brake system.

The regenerative braking torque of the front wheels may be set to thesmaller one of values obtained by subtracting a value which is obtainedby multiplying the friction torque of the engine by the gear ratio ofthe current shift gear from the necessary braking torque B1 of the frontwheels, and the regenerative braking available torque C of the frontwheels.

The regenerative braking torque of the front wheels is expressed as inEquation 1.

Regenerative braking torque of front wheel C=Min(necessary brakingtorque of front wheel, regenerative braking available torque−enginefriction torque*gear ratio of current shift gear).  [Equation 1]

The regenerative braking available torque of the front wheels may be setto the smaller one of a first regenerative braking available torque ofthe battery and a first regenerative braking available torque of theHSG.

The first regenerative braking available torque of the batterydetermines the regenerative braking torque through the HSG inconsideration of the state of the battery system. The first regenerativebraking available torque of the battery can be calculated from thefollowing Equation 2.

First regenerative braking available torque=(chargeable power ofbattery+power consumed by auxiliary load−charging power ofmotor)/charging efficiency of battery/speed of front wheel.  [Equation2]

The power consumed by an auxiliary load means a load consumed by anair-conditioning system or an audio system, for example, in the vehicle.The regenerative braking torque through the HSG is determined inconsideration of the charging power of the HSG.

The first regenerative braking available torque of the HSG can becalculated by obtaining the speed and the torque of the front wheelsfrom a speed-torque curve of the HSG (NT curve) corresponding to thegears of the transmission and then multiplying the torque of the frontwheels by a state variable.

In other words, the speed and the torque of the front wheels arecalculated from the NT curve of the HSG. That is, if the speed and thetorque of the HSG are known, the speed and the torque of the frontwheels connected with the HSG can be calculated. The first regenerativebraking available torque of the HSG can be calculated by multiplying thetorque of the front wheels by the state variable.

The state variable, which is a variable considering the state of the HSGsystem, has a value between 0 and 1. When there is a problem with thesystem such as overheating of the HSG, the state variable has a valueclose to 0.

It is possible to calculate friction braking torque to be generated onthe front wheels by subtracting the regenerative braking torque of thefront wheels from the necessary braking torque of the front wheels.

The controller generates friction braking torque on the rear wheels whennecessary braking torque B2 of the rear wheels is larger thanregenerative braking torque D2 of the rear wheels (see section (3) inFIG. 2). The regenerative braking torque D2 of the rear wheels may beset to the smaller one of a second regenerative braking available torqueof the battery and a second regenerative braking available torque of themotor.

The second regenerative braking available torque of the batterydetermines the regenerative braking torque through the motor inconsideration of the state of the battery system. The secondregenerative braking available torque of the battery can be calculatedfrom the following Equation 3.

Second regenerative braking available torque=(chargeable power ofbattery+power consumed by auxiliary load)/charging efficiency ofbattery/speed of rear wheel.  [Equation 3]

The power consumed by an auxiliary load determines regenerative brakingtorque through the motor in consideration of a load consumed by anair-conditioning system or an audio system, for example, in the vehicle.

The second regenerative braking available torque of the motor can becalculated by obtaining the speed and the torque of the rear wheels froma speed-torque curve of the motor and then multiplying the torque of therear wheels by a state variable.

In other words, the speed and the torque of the rear wheels arecalculated from the NT curve of the motor. In particular, if the speedand the torque of the motor are known, the speed and the torque of therear wheels connected with the motor can be calculated. The secondregenerative braking available torque of the motor can be calculated bymultiplying the torque of the rear wheels by the state variable.

The state variable, which is a variable considering the state of themotor system, has a value between 0 and 1. When there is a problem withthe system such as overheating of the motor, the state variable has avalue close to 0.

It is possible to calculate friction braking torque to be generated onthe rear wheels by subtracting the regenerative braking torque of therear wheels from the necessary braking torque of the rear wheels.

The controller disengages the engine clutch when the engine speed islower than a predetermined speed in braking. When the engine speed islower than the predetermined speed, it may overlap the resonancefrequency of the engine. Accordingly, resonance is prevented bydisengaging the engine clutch.

Hereinafter, a regenerative braking method according to an exemplaryembodiment of the present invention is described in detail.

The controller may be implemented by one or more processors operated bya predetermined program, in which the predetermined program is set toperform steps of a regenerative braking method of a hybrid vehicleaccording to an exemplary embodiment of the present invention.

FIG. 3 is a flowchart illustrating a regenerative braking method of thehybrid vehicle according to an exemplary embodiment of the presentinvention.

As shown in FIG. 3, the controller distributes braking torque to frontwheels and rear wheels on the basis of total necessary braking torquedetermined in response to a braking signal of the vehicle. Necessarybraking torque of the front wheels and necessary braking torque of therear wheels are calculated from the distributed braking torque (S10).

The controller calculates regenerative braking torque of the frontwheels and braking torque of the rear wheels (S20).

When the necessary braking torque of the front wheels is larger than theregenerative braking torque of the front wheels (S40), the controllergenerates friction braking torque on the front wheels (S42), and whenthe necessary braking torque of the rear wheels is larger than theregenerative braking torque of the rear wheels (S50), the controllergenerates friction braking torque on the rear wheels (S52).

Next, a method of calculating the regenerative braking torque of thefront wheels is described in detail.

FIG. 4 is a flowchart illustrating a method of calculating brakingtorque of the front wheels according to an exemplary embodiment of thepresent invention. As shown in FIG. 4, the controller determines whetherthe engine clutch has been engaged (S210).

The controller compares the necessary braking torque of the front wheelswith the friction torque of the engine (S220). When the necessarybraking torque of the front wheels is smaller than the friction torqueof the engine, with the engine clutch engaged, the friction torque ofthe engine is used as braking torque, so there is no need for performingregenerative braking through the HSG.

The controller determines whether the speed of the engine is higher thana predetermined speed (S230). When the speed of the engine is lower thanthe predetermined speed, it may overlap the resonance frequency of theengine. Accordingly, resonance is prevented by disengaging the engineclutch.

The controller calculates the regenerative braking torque of the frontwheels when the engine clutch is engaged, the necessary braking torqueof the front wheels is over the friction torque of the engine, and thespeed of the engine is over a predetermined speed (S240).

The controller calculates the friction braking torque of the frontwheels (S250).

The methods of calculating the regenerative braking torque of the frontwheels and the friction braking torque of the front wheels are the sameas those described above, so the detailed description is not provided.

When the engine clutch has been disengaged in step S260, the controllerkeeps the engine clutch disengaged (S260). When the necessary brakingtorque of the front wheels is smaller than the friction torque of theengine in step S220, the engine clutch is disengaged (S260). When theengine speed is lower than a predetermined speed in step S230, theengine clutch is disengaged (S260).

The controller sets the regenerative braking torque of the front wheelsto zero (S270). In particular, regenerative braking through the HSG isnot performed.

The controller calculates the friction braking torque of the frontwheels (S280).

In particular, since the regenerative braking torque of the front wheelsis zero, the friction braking torque of the front wheels becomes thenecessary braking torque of the front wheels.

Next, a method of calculating the regenerative braking torque of therear wheels is described in detail.

FIG. 5 is a flowchart illustrating a method of calculating brakingtorque of rear wheels according to an exemplary embodiment of thepresent invention.

As shown in FIG. 5, the controller calculates the regenerative brakingtorque of the rear wheels (S310).

The controller calculates the friction braking torque of the rear wheels(S320).

The methods of calculating the regenerative braking torque of the rearwheels and the friction braking torque of the rear wheels are the sameas those described above, so the detailed description is not provided.

While this invention has been described in connection with what ispresently considered to be practical exemplary embodiments, it is to beunderstood that the invention is not limited to the disclosedembodiments, but, on the contrary, is intended to cover variousmodifications and equivalent arrangements included within the spirit andscope of the appended claims.

What is claimed is:
 1. A regenerative braking apparatus of a vehicle,comprising: an engine that supplies power to front wheels of thevehicle; a hybrid starting generator (HSG) that starts the engine andgenerates electrical energy by operating as a power generator with theengine in operation; an engine clutch that is disposed between theengine and a transmission and selectively transmits the power from theengine to the front wheels; a motor that supplies power to rear wheelsof the vehicle and generates electrical energy by operating as a powergenerator in braking; a battery that stores the electrical energygenerated by the HSG and the motor; and a controller that generatesfriction braking torque on the front wheels when necessary brakingtorque of the front wheels is larger than regenerative braking torque ofthe front wheels, and that generates friction braking torque on the rearwheels when necessary braking torque of the rear wheels is larger thanregenerative braking torque of the rear wheels, in braking of thevehicle.
 2. The apparatus of claim 1, wherein the regenerative brakingtorque of the front wheels is set to the smaller one of values obtainedby subtracting a value which is obtained by multiplying friction torqueof the engine by the gear ratio of the current shift gear from thenecessary braking torque of the front wheels, and the regenerativebraking available torque of the front wheels.
 3. The apparatus of claim2, wherein the regenerative braking available torque of the front wheelsis set to the smaller one of first regenerative braking available torqueof the battery and first regenerative braking available torque of theHSG.
 4. The apparatus of claim 3, wherein the first regenerative brakingavailable torque of the battery is calculated from an equation:(chargeable power of battery+power consumed by auxiliary load−chargingpower of motor)/charging efficiency of battery/speed of front wheel. 5.The apparatus of claim 3, wherein the first regenerative brakingavailable torque of the HSG is calculated by obtaining speed and torqueof the front wheels from a speed-torque curve of the HSG correspondingto gears of the transmission and then multiplying the torque of thefront wheels by a state variable.
 6. The apparatus of claim 1, whereinthe regenerative braking torque of the rear wheels is set to the smallerone of second regenerative braking available torque of the battery andsecond regenerative braking available torque of the motor.
 7. Theapparatus of claim 6, wherein the second regenerative braking availabletorque of the battery is calculated from an equation: (chargeable powerof battery+power consumed by auxiliary load)/charging efficiency ofbattery/speed of rear wheel.
 8. The apparatus of claim 6, wherein thesecond regenerative braking available torque of the motor is calculatedby obtaining speed and torque of the rear wheels from a speed-torquecurve of the motor and then multiplying the torque of the rear wheels bya state variable.
 9. The apparatus of claim 1, wherein the controllerdisengages the engine clutch when an engine speed is lower than apredetermined speed in braking.
 10. A regenerative braking method of avehicle, comprising: calculating necessary braking torque of frontwheels and necessary braking torque of rear wheels from total necessarybraking torque determined in response to a braking signal of thevehicle; calculating regenerative braking torque of the front wheels andregenerative braking torque of the rear wheels; generating frictionbraking torque on the front wheels when the necessary braking torque ofthe front wheels is larger than the regenerative braking torque of thefront wheels; and generating friction braking torque on the rear wheelswhen the necessary braking torque of the rear wheels is larger than theregenerative braking torque of the rear wheels.
 11. The method of claim10, wherein the calculating of regenerative braking torque of the frontwheels includes: determining whether an engine clutch has been engaged;comparing the necessary braking torque of the front wheels with frictiontorque of an engine; determining whether a speed of the engine is higherthan a predetermined speed; and calculating the regenerative brakingtorque of the front wheels when the engine clutch is engaged, thenecessary braking torque of the front wheels is over the friction torqueof the engine, and the speed of the engine is over the predeterminedspeed.
 12. The method of claim 11, wherein the regenerative brakingtorque of the front wheels is set to the smaller one of values obtainedby subtracting the friction torque of the engine from the necessarybraking torque and the regenerative braking torque of the front wheels.13. The method of claim 12, wherein the regenerative braking availabletorque of the front wheels is set to the smaller one of firstregenerative braking available torque of a battery and firstregenerative braking available torque of an HSG.
 14. The method of claim13, wherein the first regenerative braking available torque of thebattery is calculated from an equation: (chargeable power ofbattery+power consumed by auxiliary load−charging power ofmotor)/charging efficiency of battery/speed of front wheel.
 15. Themethod of claim 13, wherein the first regenerative braking availabletorque of the HSG is calculated by obtaining torque of the front wheelscorresponding to the speed of the front wheels from a speed-torque curveof the HSG corresponding to gears of a transmission and then multiplyingthe torque of the front wheels by a state variable.
 16. The method ofclaim 10, wherein the regenerative braking torque of the rear wheels isset to the smaller one of second regenerative braking available torqueof the battery and second regenerative braking available torque of themotor.
 17. The method of claim 16, wherein the second regenerativebraking available torque of the battery is calculated from an equation:(chargeable power of battery+power consumed by auxiliary load)/chargingefficiency of battery/speed of rear wheel.
 18. The method of claim 16,wherein the second regenerative braking available torque of the motor iscalculated by obtaining speed and torque of the rear wheels from aspeed-torque curve of the motor and then multiplying the torque of therear wheels by a state variable.